A robot system includes a robot, a vision sensor, a controller, and an input unit. The vision sensor configured to measure a feature point and obtain a measured coordinate value. The controller configured to control the robot. The input unit configured to receive an input from a user toward the controller. The controller obtains, via the input unit, setting information data on a determination point which is different from the feature point. The robot system uses a coordinate value of the determination point and the measured coordinate value, and determines whether the robot is taking a target position and orientation.

A method for performing a task by a robotic device includes mapping a group of task image pixel descriptors associated with a first group of pixels in a task image of a task environment to a group of teaching image pixel descriptors associated with a second group of pixels in a teaching image based on positioning the robotic device within the task environment. The method also includes determining a relative transform between the task image and the teaching image based on mapping the plurality of task image pixel descriptors. The relative transform indicates a change in one or more of points of 3D space between the task image and the teaching image. The method also includes performing the task associated with the set of parameterized behaviors based on updating one or more parameters of a set of parameterized behaviors associated with the teaching image based on determining the relative transform.

A device for automated removal of workpieces arranged in a container has a detector device, for the purpose of detecting the workpiece, and a picker, which can be moved via a robot arm having at least six axes, for picking and removing the workpieces from the container. The device also has controller for evaluating the data of the detector device, for path planning, and for controlling the robot arm and the picker. The robot arm has a picker arm element, with at least two further axes of movement, for moving the picker.

The three-dimensional measurement apparatus includes: a base camera for capturing a workpiece to acquire a first image; a reference camera for capturing the workpiece from a view point different from the base camera to acquire a second image; and a camera control unit for extracting multiple edge lines from the first and second images, calculating line-of-sight errors with respect to provisional three-dimensional coordinates, wherein the line-of-sight errors are calculated at an endpoint of a first edge line selected from the multiple edge lines of the first image and an endpoint of a second edge line extracted from the multiple edge lines of the second image to correspond to the first edge line, setting an evaluation function from the line-of-sight errors, and a three-dimensional constraint condition set based on a shape of the workpiece, and making an optimization calculation of the evaluation function to measure the three-dimensional coordinates of the workpiece.

Systems and methods for reconfigurable, fixtureless manufacturing are provided. Material handling robots grasp and move parts within an assembly area to adjoin one another in a predetermined orientation. While the parts remain grasped and suspended within the assembly area, out of contact with any fixtures, work surfaces, jigs, and locators, a machine vision system performs an alignment scan to determine locations of datums on the parts which are transmitted to a controller for comparison against stored virtual datums for a subassembly comprising the joined parts. The location of the datums are transmitted to a joining robot which joins the parts to form the subassembly. The machine vision system performs an inspection scan of the datums on the parts after joining.

A measurement system and associated techniques can reduce the time for obtaining 3D data about a target object by measurement. The measurement system includes a 3D sensor installable on a robot to obtain, by measurement, 3D data indicating 3D coordinates of surface points on a surface of a target object, a displacement detector that detects a displacement of a joint of the robot, a drive that drives the joint of the robot, a sensor controller that controls the 3D sensor to obtain 3D data about the target object by measurement at one or more measurement points, an integrator that performs 3D integration of 3D data about the target object obtained by measurement before a first operation performed by the robot on the target object and 3D data about the target object obtained by measurement at the one or more measurement points after the first operation performed by the robot on the target object, and a robot controller that outputs, to the drive, a drive command for controlling a second operation performed by the robot based on 3D coordinates of the surface points on the surface of the target object indicated by 3D data obtained through the 3D integration.

A picking apparatus includes: a three-dimensional imaging device configured to three-dimensionally-image workpieces contained in bulk in a container; a robot arm having a hand capable of gripping a workpiece; and a control device configured to control an operation of the robot arm; the control device is configured: to recognize a position and a posture of a target workpiece, based on an imaging result of the three-dimensional imaging device; to obtain an gripping position of the workpiece and an approach vector thereof, based on the recognized position and posture information; to calculate an intersection point between a straight line extending along the approach vector through the gripping position and a plane including an opening of the container; and to judge whether the workpiece can be picked or not, based on a positional relationship between the intersection point and the opening.

A method to control operation of a robot includes generating at least one virtual image by an optical 3D measurement system and with respect to a 3D measurement coordinate system, the at least one virtual image capturing a surface region of a component. The method further includes converting a plurality of point coordinates of the virtual image into point coordinates with respect to a robot coordinate system by a transformation instruction and controlling a tool element of the robot using the point coordinates with respect to the robot coordinate system so as to implement the operation.

A data transmission apparatus (100) selects transmission object data to a remote control terminal (101) based on acquired point group data (20). At this time, an upper limit of a data quantity of the transmission object data in a predetermined region is determined.

A method for a contactless safeguarding at a cooperation zone of a machine is provided wherein an access zone for a worker is arranged at a first side of the cooperation zone and a working zone of the machine is arranged at a second side, wherein a plurality of protected fields configured in the environment of the cooperation zone are monitored for protected field intrusions by at least one optoelectronic sensor and at least two of the protected fields 38) are arranged in a first sequence starting from the first side such that a worker sequentially intrudes into these protected fields when approaching the cooperation zone, and wherein the protected field intrusions are evaluated to safeguard the machine in the case of an unpermitted combination of protected field intrusions. In this respect, at least two of the protected fields are arranged in a second sequence starting from the second side such that the machine sequentially intrudes in these protected fields when approaching the cooperation zone.